一种新型微小爬壁机器人.pdfVIP

2007 13 252 一种新型微小爬壁机器人 1 2 2 2 李 敏 , 刘京诚 , 刘 俊 , 秦 岚 ( 1. 643033; 2. 400044) :研制了一种能在导磁面上运动的电磁驱动的微小爬壁机器人, 尺寸为 30 mm 15 mm 20 mm, 重约30 g 在分析尺蠖运动原理和现有爬壁机器人驱动方式驱动力和机器人结构的基础上, 设计了新的驱动结构和驱动方式, 实验测 试表明, 此设计明显提高了机器人的驱动力通过研究人体的转弯机理, 实现了机器人的快速转弯分析了机器人的驱动 控制信号,设计制作了机器人的驱动控制电路整 个爬壁机器人采用爬行式运动方式,运动速度可以达到 1. 1 cm/ s, 可以在 0~ 90的导磁面上爬行 :微机器人; 爬壁; 电磁驱动; 快速转弯 :T P242 :B : 1004- 373X(2007) 13- 101- 04 A Novel Micro- climbing- wall Robot 1 2 2 2 LI M in , LI Jingcheng , LI Jun ,QIN Lan ( 1. Sichuan niversity of Science Engineering,Zigong, 643033,China; 2. Key Laboratory of Optoelectronic Technology Systems of the Education Ministry of China, Chongqing niversity, Chongqing,400044, China) Abstract: The design of a electromagnetism driving micro- climbing wall robot which can move and travel on the magnetic surface is presented in this paper,which has 30 mm 15 mm 20 mm size and the weight is less than 30 g.Based on analyzing the moving theory of cankerworm and the older driving mode,driving power, robots mechanical structure, the paper show s the novel driving structure(NDS) and novel driving mode( NDM) , and the experimental test data results which the advantage of NDS and NDM enlarge the driving power apparently compared with old driving part. Based on analyzing the human bodys turning action, realized the robots quick turning operation. Based on the analysis of the moving mechanics, the essay offered the controlling and driving signals and circuit, too.The micro- robot adopts the creeping motorial mo